A nonlinear navigation observer using IMU and generic position information

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that vehicle is equipped an Inertial Measurement Unit (IMU) providing body-frame measurements angular velocity, specific force, and Earth’s magnetic field. Moreover, we consider available sensors provide partial or information about position vehicle. Examples such are those which (e.g., GPS), range Ultra-Wide Band (UWB) sensors), inertial-frame bearing motion capture cameras), altitude (altimeter). propose generic semi-globally exponentially stable nonlinear observer estimates position, linear acceleration, attitude vehicle, as well gyro bias. also detailed observability analysis different types measurements. Simulation experimental results provided to demonstrate effectiveness proposed scheme.